A virtual structure approach to formation control of unicycle mobile robots using mutual coupling

In this article, the formation control problem for unicycle mobile robots is studied. A distributed virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustne...

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Bibliographic Details
Published in:International journal of control 2011-11, Vol.84 (11), p.1886-1902
Main Authors: Sadowska, Anna, den Broek, Thijs van, Huijberts, Henri, van de Wouw, Nathan, Kostić, Dragan, Nijmeijer, Henk
Format: Article
Language:English
Subjects:
Adaptative systems
Applied sciences
Computer science
control theory
systems
Computer systems and distributed systems. User interface
Control theory. Systems
cooperative control
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Joining
Mutual coupling
Perturbation
Physics
Robotics
Robots
Robustness
Simulation
Software
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
stability of non-linear systems
Strategy
Studies
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Summary:In this article, the formation control problem for unicycle mobile robots is studied. A distributed virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness of the formation with respect to perturbations as compared to typical leader-follower approaches. The applicability of the proposed approach is shown in simulations and experiments with a group of wirelessly controlled mobile robots.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2011.627686